Genetic algorithm based on polygon segmentation AUV global path planning

Appear in the actual AUV global path planning applications for genetic algorithm computed data,path planning issues such as spikes,a new path planning method is proposed.Plane rectangular coordinate system environment modeling obstacle simplified polygon is divided into triangles.End-to-end path segment,the fixed abscissa,ordinate randomly generated binary-coded genetic algorithm obstacle triangle intersection determination,the path from the operation prepared by the applicable function.After genetic path through the obstacle avoidance,delete nodes,smooth operation to determine the final optimization path.Results show that the simplified implementation obstacles triangle program optimization in genetic operation,use of obstacle avoidance,remove redundant node,smooth operation,can very good eliminate peak,can find a relatively optimal path.